\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode}{
\section{Zebulon::CoralAHRS::SetOutputMode Class Reference}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode}\index{Zebulon::CoralAHRS::SetOutputMode@{Zebulon::CoralAHRS::SetOutputMode}}
}


This message changes the output mode on the Coral AHRSTM module. The output mode is a 4-\/bit field in which bits 0 and 1 choose an orientation data type (00 = None, 01 = Quaternion, 10 = Euler Angles, 11 = Orientation Matrix), and bits 2 and 3 choose a sensor data type (00 = None, 01 = Calibrated, 10 = Raw). If an invalid mode is selected, no data will be output until a proper mode is selected.  


{\ttfamily \#include $<$setoutputmode.h$>$}Inheritance diagram for Zebulon::CoralAHRS::SetOutputMode::\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[height=2cm]{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode}
\end{center}
\end{figure}
\subsection*{Public Types}
\begin{DoxyCompactItemize}
\item 
enum {\bfseries OrientationType} \{ {\bfseries None} =  0, 
{\bfseries Quaternion} =  0x01, 
{\bfseries EulerAngles} =  0x02, 
{\bfseries OrientationMatrix} =  0x03
 \}
\item 
enum {\bfseries SensorType} \{ {\bfseries Calibrated} =  0x04, 
{\bfseries Raw} =  0x08
 \}
\end{DoxyCompactItemize}
\subsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_aa9ea3b1118bf6e2085772a1b38c7862f}{
\hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_aa9ea3b1118bf6e2085772a1b38c7862f}{SetOutputMode} ()}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_aa9ea3b1118bf6e2085772a1b38c7862f}

\begin{DoxyCompactList}\small\item\em Constructor. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_a56754372d9ca8f62022fbf6f02982e24}{
\hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_a56754372d9ca8f62022fbf6f02982e24}{SetOutputMode} (const \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode}{SetOutputMode} \&message)}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_a56754372d9ca8f62022fbf6f02982e24}

\begin{DoxyCompactList}\small\item\em Copy constructor. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_a949c4a96b5be0ba2255e324dac329562}{
\hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_a949c4a96b5be0ba2255e324dac329562}{$\sim$SetOutputMode} ()}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_a949c4a96b5be0ba2255e324dac329562}

\begin{DoxyCompactList}\small\item\em Destructor. \item\end{DoxyCompactList}\item 
virtual int \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_a2f5f360164c401df3d739a9415afb08e}{WriteMessageBody} (CxUtils::Packet \&packet) const 
\begin{DoxyCompactList}\small\item\em Writes contents of message body to packet. \item\end{DoxyCompactList}\item 
virtual int \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_a52532b46deec45235013879a97c4322a}{ReadMessageBody} (const CxUtils::Packet \&packet)
\begin{DoxyCompactList}\small\item\em Reads contents of message body from the packet, saving to internal data members. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_a52a38a6ca7c893797d737f8e9cb2928f}{
virtual \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_message}{Message} $\ast$ {\bfseries Clone} () const }
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_a52a38a6ca7c893797d737f8e9cb2928f}

\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_a2125e74650b334263d7b9119e4d83256}{
virtual void \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_a2125e74650b334263d7b9119e4d83256}{Print} () const }
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_a2125e74650b334263d7b9119e4d83256}

\begin{DoxyCompactList}\small\item\em Prints data to console window. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_a47b7f0a35b10acf145fc31bcbb7558f4}{
\hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode}{SetOutputMode} \& \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_a47b7f0a35b10acf145fc31bcbb7558f4}{operator=} (const \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode}{SetOutputMode} \&message)}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_a47b7f0a35b10acf145fc31bcbb7558f4}

\begin{DoxyCompactList}\small\item\em Sets equal to. \item\end{DoxyCompactList}\end{DoxyCompactItemize}
\subsection*{Public Attributes}
\begin{DoxyCompactItemize}
\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_a778def73d755efba1639cd14d60539d3}{
unsigned char \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_a778def73d755efba1639cd14d60539d3}{mMode}}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_a778def73d755efba1639cd14d60539d3}

\begin{DoxyCompactList}\small\item\em Mode to output in (e.g. Quaternion $|$ Calibrated). \item\end{DoxyCompactList}\end{DoxyCompactItemize}


\subsection{Detailed Description}
This message changes the output mode on the Coral AHRSTM module. The output mode is a 4-\/bit field in which bits 0 and 1 choose an orientation data type (00 = None, 01 = Quaternion, 10 = Euler Angles, 11 = Orientation Matrix), and bits 2 and 3 choose a sensor data type (00 = None, 01 = Calibrated, 10 = Raw). If an invalid mode is selected, no data will be output until a proper mode is selected. 

\subsection{Member Function Documentation}
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_a52532b46deec45235013879a97c4322a}{
\index{Zebulon::CoralAHRS::SetOutputMode@{Zebulon::CoralAHRS::SetOutputMode}!ReadMessageBody@{ReadMessageBody}}
\index{ReadMessageBody@{ReadMessageBody}!Zebulon::CoralAHRS::SetOutputMode@{Zebulon::CoralAHRS::SetOutputMode}}
\subsubsection[{ReadMessageBody}]{\setlength{\rightskip}{0pt plus 5cm}int SetOutputMode::ReadMessageBody (const CxUtils::Packet \& {\em packet})\hspace{0.3cm}{\ttfamily  \mbox{[}virtual\mbox{]}}}}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_a52532b46deec45235013879a97c4322a}


Reads contents of message body from the packet, saving to internal data members. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\leftarrow$} {\em packet}]The packet to read data from.\end{DoxyParams}
\begin{DoxyReturn}{Returns}
Number of bytes read from packet. 
\end{DoxyReturn}


Implements \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_message}{Zebulon::CoralAHRS::Message}.\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_a2f5f360164c401df3d739a9415afb08e}{
\index{Zebulon::CoralAHRS::SetOutputMode@{Zebulon::CoralAHRS::SetOutputMode}!WriteMessageBody@{WriteMessageBody}}
\index{WriteMessageBody@{WriteMessageBody}!Zebulon::CoralAHRS::SetOutputMode@{Zebulon::CoralAHRS::SetOutputMode}}
\subsubsection[{WriteMessageBody}]{\setlength{\rightskip}{0pt plus 5cm}int SetOutputMode::WriteMessageBody (CxUtils::Packet \& {\em packet}) const\hspace{0.3cm}{\ttfamily  \mbox{[}virtual\mbox{]}}}}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_set_output_mode_a2f5f360164c401df3d739a9415afb08e}


Writes contents of message body to packet. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\leftarrow$} {\em packet}]The packet to write data to.\end{DoxyParams}
\begin{DoxyReturn}{Returns}
Number of bytes written to packet. 
\end{DoxyReturn}


Implements \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_message}{Zebulon::CoralAHRS::Message}.

The documentation for this class was generated from the following files:\begin{DoxyCompactItemize}
\item 
C:/Users/Matt/Documents/School/Robotics/zebulon/v2/coralahrs/include/coralahrs/messages/\hyperlink{setoutputmode_8h}{setoutputmode.h}\item 
C:/Users/Matt/Documents/School/Robotics/zebulon/v2/coralahrs/src/coralahrs/messages/\hyperlink{setoutputmode_8cpp}{setoutputmode.cpp}\end{DoxyCompactItemize}
